摘要 |
A control system that constantly and accurately controls a control variable so that it remains within an allowable range is provided. The control system in accordance with the present invention estimates a steady-state deviation d in a controlled object as a steady-state deviation estimation value d' on the basis of a control variable y and a final desired value y<SUB>2</SUB>. A control variable y in a controlled object based on the initial desired value y<SUB>1 </SUB>is estimated as the primary estimation value y<SUB>1</SUB>' on the basis of at least the initial desired value y<SUB>1 </SUB>and the steady-state deviation estimation value d'. If a primary estimation value y<SUB>1</SUB>' is within an allowable range, then a final desired value y<SUB>2 </SUB>agreeing with an initial desired value y<SUB>1 </SUB>is determined, while, if the primary estimation value y<SUB>1</SUB>' is out of the allowable range, then the final desired value y<SUB>2 </SUB>is determined on the basis of at least a boundary value of the allowable range. A manipulation variable x is determined on the basis of the final desired value y<SUB>2</SUB>.
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